Yes, keeping the teeth healthy may increase health and longevity. The bacteria in the mouth can cause problems if it builds up, and some dogs can get heart problems from it.
There are some products out ther (Petzlife?) That some have had success with. I always fed raw cut beef soup bones to clean the teeth. Some use other types of raw chicken pieces (I'm not a raw feeder, just enough to keep the teeth in decent shape). Never feed cooked bones though, they are dangerous, and the raw will not work for every dog. My acupuncture vet has someone come in and do anesthesia free cleaning, but I don't know anymore about that.